CN109600584A - Observe method and apparatus, tower crane and the machine readable storage medium of tower crane - Google Patents
Observe method and apparatus, tower crane and the machine readable storage medium of tower crane Download PDFInfo
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- CN109600584A CN109600584A CN201811512452.2A CN201811512452A CN109600584A CN 109600584 A CN109600584 A CN 109600584A CN 201811512452 A CN201811512452 A CN 201811512452A CN 109600584 A CN109600584 A CN 109600584A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The embodiment of the present invention provides a kind of method and apparatus, tower crane and machine readable storage medium for observing tower crane, belongs to building machinery technical field field.This method comprises: the video image from multiple angle acquisitions about the tower crane, wherein multiple angles include at least the angle for observing the suspension hook of the tower crane；Determine the corresponding image array of each video image in collected video image；The corresponding image array of the collected video image of Automated generalization institute based on inquiry and between two-way change algorithm and multiple angles, synthesizes a composograph matrix for the corresponding image array of time identical video image；Processing composograph matrix obtains composograph；The composograph of corresponding different time is fused into video；And the video that display is synthesized.Take this, realizes and driver is allowed to accurately hold tower crane operation conditions, and do not limited by the visual field, improve the degree of safety of driver operation tower crane.
Description
Technical field
The present invention relates to building machinery technical field, more particularly to a kind of method and apparatus for observing tower crane, tower crane and
Machine readable storage medium.
Background technique
Current tower crane design is largely that tower machine upper is equipped with drivers' cab, and tower crane driver need to operate in drivers' cab on tower
Tower crane, the visual angle that driver observes in drivers' cab may refer to shown in Fig. 1, and the visual field of driver is confined to 180 ° of front, in complexity
Security risk is easily caused under operating condition.
Existing unmanned tower crane is using wired or wireless remote controler, and driver manipulates tower crane under tower, and detect by an unaided eye tower crane
Operating condition, driver may refer to shown in Fig. 2 using the visual angle that remote controler is observed.Since the ground visual field is small, can not accurately hold
Tower crane operating condition has very big security risk.
Summary of the invention
The object of the present invention is to provide it is a kind of observe tower crane method and apparatus, tower crane and machine readable storage medium,
It can solve or at least partly solve the problems in above-mentioned.
To achieve the goals above, one aspect of the present invention provides a kind of method for observing tower crane operation conditions,
Video image from multiple angle acquisitions about the tower crane, wherein the multiple angle, which includes at least, observes the tower crane
The angle of suspension hook；Determine the corresponding image array of each video image in collected video image；Based on inquiry and double
It, will to the corresponding described image matrix of the collected video image of Automated generalization institute between change algorithm and the multiple angle
The corresponding described image matrix of time identical video image synthesizes a composograph matrix；Handle the composograph matrix
Obtain composograph；The composograph of corresponding different time is fused into video；And the video that display is synthesized.
Optionally, the corresponding image array of each video image in determining the collected video image it
Before, this method further include: distortion correction is carried out to the collected video image of institute, curved images are transformed to flat image,
Wherein, the corresponding image array of each video image in the collected video image of the determining institute is based on the view after correction
Frequency image determines described image matrix.
Optionally, collected video image and/or synthesized video be to be passed based on low delay transmission technology
It is defeated.
Correspondingly, another aspect of the present invention provides a kind of for observing the device of tower crane operation conditions, which includes:
Video image acquisition module, for the video image from multiple angle acquisitions about the tower crane, wherein the multiple angle is extremely
Few includes the angle for observing the suspension hook of the tower crane；Processing module is used for: determine each view in collected video image
The corresponding image array of frequency image；Automated generalization based on inquiry and between two-way change algorithm and the multiple angle is acquired
The corresponding described image matrix of time identical video image is synthesized one by the corresponding described image matrix of the video image arrived
Composograph matrix；It handles the composograph matrix and obtains composograph；The composograph of corresponding different time is melted
Synthetic video；And display module, for showing synthesized video.
Optionally, the corresponding image array of each video image in determining the collected video image it
Before, the processing module is also used to: carrying out distortion correction to the collected video image of institute, curved images are transformed to plane
Image, wherein the corresponding image array of each video image in the collected video image of the determining institute is based on correction
Video image afterwards determines described image matrix.
Optionally, collected video image and/or synthesized video be to be passed based on low delay transmission technology
It is defeated.
In addition, another aspect of the present invention also provides a kind of tower crane, which includes above-mentioned device.
In addition, another aspect of the present invention also provides a kind of machine readable storage medium, on the machine readable storage medium
It is stored with instruction, which is used for so that machine executes above-mentioned method.
Through the above technical solutions, will be video from Video Composition one about tower crane of multiple angle shots and will close
At video be shown to tower crane driver, tower crane driver can the operation conditions of tower crane and multi-faceted sight from the video of synthesis
The operation conditions for examining tower crane allows driver to accurately hold tower crane operation conditions, and is not limited by the visual field, improves driver behaviour
Make the degree of safety of tower crane.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to the embodiment of the present invention, and constitute part of specification, under
The specific embodiment in face is used to explain the present invention embodiment together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure:
Fig. 1 is the effect diagram that driver observes tower crane suspension hook in drivers' cab；
Fig. 2 is effect diagram of the driver using remote controler observation tower crane suspension hook；
The flow chart for the method for observing tower crane operation conditions that Fig. 3 one embodiment of the invention provides；
Fig. 4 be another embodiment of the present invention provides the tower crane observed based on the method for observing tower crane operation conditions
The schematic diagram of operation conditions；And
Fig. 5 be another embodiment of the present invention provides for observe tower crane operation conditions device structural block diagram
Description of symbols
1 video image acquisition module, 2 processing module
3 display modules
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the embodiment of the present invention.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
The one aspect of the embodiment of the present invention provides a kind of method for observing tower crane operation conditions.Fig. 3 is the present invention
The flow chart for the method for observing tower crane operation conditions that one embodiment provides.As shown in figure 3, this method includes in following
Hold.
In step s 30, the video image from multiple angle acquisitions about tower crane, wherein multiple angle includes at least
Observe the angle of the suspension hook of tower crane.The video image acquisition module for acquiring the video image of tower crane can be arbitrarily to can be realized and adopt
The equipment for collecting video image function, for example, it may be camera further can be high-definition camera.From multiple angles
When acquiring the video of tower crane, video image acquisition module can be installed according to the actual conditions of tower crane.In addition, tower crane driver can also
To want the angle of observation tower crane according to oneself, the shooting angle of video image acquisition module is adjusted.In addition, in real time from multiple angles
Degree acquisition video image, the subsequent processing of real-time perfoming.
In step S31, determine the corresponding image array of each video image in collected video image.Specifically
Ground can be analyzed and be handled to video image using matrix theory and matrix algorithm, obtain the image array of video image.
For example, obtaining image array based on SIFT feature extraction algorithm or SURF feature point extraction algorithm process video image.
In step s 32, the Automated generalization institute based on inquiry and between two-way change algorithm and multiple angles is collected
The corresponding image array of time identical video image is synthesized an image array by the corresponding image array of video image.
The positional relationship acquired between multiple angles of video image is fixed, and multiple video images are being synthesized an image
When, it is also desirable to it is synthesized according to the positional relationship between multiple angles.Below by taking multiple angles include four angles as an example into
Row explanation, that is, video image acquisition module include four, acquire the video image of four angles respectively.Other situations can be with
Understood referring to four angles.
Four angles respectively correspond the first video image acquisition module, the second video image acquisition module, third video figure
As acquisition module, the 4th video image acquisition module, wherein the positional relationship between four video image acquisition modules is first
Video image acquisition module is adjacent with the second video image acquisition module, the second video image acquisition module and third video image
Acquisition module is adjacent, and third video image acquisition module is adjacent with the 4th video image acquisition module.By four video images
Acquisition module first synthesizes the corresponding image array of same time when the video image that the same time acquires synthesizes an image
One image array.Specifically, based on inquiry and two-way changing algorithm, the video figure that the first video image acquisition module is acquired
As corresponding first image array the second image array phase corresponding with the video image that the second video image acquisition module acquires
Multiply, the matrix after obtained multiplication is the composograph matrix of the first image array and the second image array；By third video
The corresponding third image array of video image of image capture module acquisition and the video of the 4th video image acquisition module acquisition
Corresponding 4th image array of image is multiplied, and the matrix after obtained multiplication is third image array and the 4th image array
Composograph matrix, by the composograph matrix of the first image array and the second image array and third image array and the 4th figure
As the composograph matrix multiple of matrix obtains the first image array, the second image array, third image array and the 4th image
The composograph matrix of matrix.
In step S33, processing composograph matrix obtains composograph.For example, image array can be handled with software
Image is obtained, it specifically, can be using imshow or imwrite order in matlab.
In step S34, the composograph of corresponding different time is fused into video.It in step s 32, will be from multiple angles
The corresponding image array of video image for spending the same time of acquisition synthesizes a composograph matrix, in this step by step
The corresponding composograph synthetic video of different time obtained in S33.
In step s 35, the video of synthesis is shown, so that tower crane driver is observed that the situation of tower crane.It can lead to
Cross the video of high-clear display display synthesis.
It will be video from Video Composition one about tower crane of multiple angle shots and the video of synthesis be shown to tower
Machine driver, tower crane driver can from the video of synthesis the operation conditions of tower crane and it is multi-faceted observation tower crane operation shape
Condition allows driver to accurately hold tower crane operation conditions, and is not limited by the visual field, improves the safety of driver operation tower crane
Degree.
Optionally, in embodiments of the present invention, determine institute collected video image in each video image correspondence
Image array before, this method a further include: distortion correction is carried out to the collected video image of institute, curved images are converted
For flat image, wherein determine the corresponding image array of each video image in the collected video image of institute for based on school
Video image after just determines image array.By distortion correction, the subsequent processing carried out based on video image can be improved
Accuracy, so that method provided by the present invention is more with practical value.
Optionally, in embodiments of the present invention, collected video image and/or synthesized video be to be prolonged based on low
When transmission technology transmitted.Using low delay transmission technology, the video of collected video image and/or synthesis is carried out real
When be compressed in 100,000,000 and carry out long-range real-time Transmissions, data transmitting is carried out using the method, easily eliminates video image and/or conjunction
At video quantizing during blocking artifact problem, that is, in the transmission process of video image and/or the video of synthesis it is same
One width picture it is discontinuous, finally make transmitted data flow be able to satisfy low delay high definition transmission requirement.
It optionally, in embodiments of the present invention, can be with from the video image acquisition module of multiple angle acquisition video images
It is installed in tower crane drivers' cab, wherein the video image acquisition module being installed on drivers' cab is hung for acquiring about tower crane
The video image of hook.In addition, it may further comprise the video image acquisition module being mounted on counter-jib, wherein be installed in balance
Video image acquisition module on arm is used to acquire the video image at driver visual field rear, in this way, driver can be made to tower crane
The case where understanding of operation conditions is not only limited to its front 180 degree, also is understood that its rear, avoids security risk.In addition,
It can also include the video image acquisition module for following the trolley travelling on crane arm, in this way, the video for making synthesis is full side
The video for getting a bird's eye view visual angle of position, observing effect may refer to shown in Fig. 4, and tower crane driver is allowed to observe tower crane without dead angle
Operation conditions be more convenient tower crane driver operation control.It is adopted furthermore it is also possible to install multiple video images in the bottom of tower crane
Collect module, centered on driver, the visual angle for ground control centre observation is provided, tower crane operating conditions are supervised in real time
Control；More comprehensive information can also be understood by the shooting angle of adjusting video images acquisition module.
In addition, in embodiments of the present invention, multiple high-definition camera acquisition video images can be installed according to the actual situation,
Realize the overall view monitoring in building site near tower crane.
In addition, in embodiments of the present invention, driver can be wanted to know about according to oneself about tower crane operation conditions or
Person wants to further appreciate that according to the video having been displayed, and carrys out the shooting angle of adjusting video images acquisition module, so that right
The understanding of tower crane deeper into.
Correspondingly, the another aspect of the embodiment of the present invention provides a kind of for observing the device of tower crane operation conditions.Fig. 5 is
Another embodiment of the present invention provides for observing the device of tower crane operation conditions.As shown in figure 5, the device includes video image
Acquisition module 1, processing module 2 and display module 3.Wherein, video image acquisition module 1 is used for from multiple angle acquisitions about tower
The video image of machine, wherein multiple angles include at least the angle of the suspension hook of observation tower crane；Processing module 2 is used for: determination is adopted
The corresponding image array of each video image in the video image collected；Based on inquiry and two-way change algorithm and multiple angles
Between the corresponding image array of the collected video image of Automated generalization institute, by the corresponding image of time identical video image
Matrix synthesizes a composograph matrix；Processing composograph matrix obtains composograph；By the composite diagram of corresponding different time
As being fused into video；Display module 3 is used to show synthesized video.
It will be video from Video Composition one about tower crane of multiple angle shots and the video of synthesis be shown to tower
Machine driver, tower crane driver can from the video of synthesis the operation conditions of tower crane and it is multi-faceted observation tower crane operation shape
Condition allows driver to accurately hold tower crane operation conditions, and is not limited by the visual field, improves the safety of driver operation tower crane
Degree.
Optionally, in embodiments of the present invention, determine institute collected video image in each video image correspondence
Image array before, processing module is also used to: carrying out a distortion correction to the collected video image of institute, curved images are become
Be changed to flat image, wherein determine institute collected video image in the corresponding image array of each video image for based on
Video image after correction determines image array.
Optionally, in embodiments of the present invention, collected video image and/or synthesized video be to be prolonged based on low
When transmission technology transmitted.
Concrete operating principle and benefit and sheet provided in an embodiment of the present invention for observing the device of tower crane operation conditions
The concrete operating principle and benefit for the method for observing tower crane operation conditions that inventive embodiments provide are similar, here will no longer
It repeats.
In addition, the another aspect of the embodiment of the present invention also provides a kind of tower crane, which includes described in above-described embodiment
Device.
In addition, the another aspect of the embodiment of the present invention also provides a kind of machine readable storage medium, the machine readable storage
Instruction is stored on medium, which is used for so that machine executes method described in above-described embodiment.
The optional embodiment of the embodiment of the present invention is described in detail in conjunction with attached drawing above, still, the embodiment of the present invention is simultaneously
The detail being not limited in above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection scope of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the embodiment of the present invention pair
No further explanation will be given for various combinations of possible ways.
It will be appreciated by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that single
Piece machine, chip or processor (processor) execute all or part of the steps of each embodiment the method for the application.And it is preceding
The storage medium stated includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic or disk.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (8)
1. a kind of method for observing tower crane operation conditions, which is characterized in that this method comprises:
Video image from multiple angle acquisitions about the tower crane, wherein the multiple angle, which includes at least, observes the tower
The angle of the suspension hook of machine；
Determine the corresponding image array of each video image in collected video image；
The collected video image of Automated generalization institute based on inquiry and between two-way change algorithm and the multiple angle is corresponding
Described image matrix, the corresponding described image matrix of time identical video image is synthesized into a composograph matrix；
It handles the composograph matrix and obtains composograph；
The composograph of corresponding different time is fused into video；And
The synthesized video of display.
2. the method according to claim 1, wherein each in determining the collected video image
Before the corresponding image array of video image, this method further include:
Distortion correction is carried out to the collected video image of institute, curved images are transformed to flat image, wherein the determination
The corresponding image array of each video image in collected video image to determine institute based on the video image after correction
State image array.
3. the method according to claim 1, wherein collected video image and/or synthesized video
To be transmitted based on low delay transmission technology.
4. a kind of for observing the device of tower crane operation conditions, which is characterized in that the device includes:
Video image acquisition module, for the video image from multiple angle acquisitions about the tower crane, wherein the multiple angle
Degree includes at least the angle for observing the suspension hook of the tower crane；
Processing module is used for:
Determine the corresponding image array of each video image in collected video image；
The collected video image of Automated generalization institute based on inquiry and between two-way change algorithm and the multiple angle is corresponding
Described image matrix, the corresponding described image matrix of time identical video image is synthesized into a composograph matrix；
It handles the composograph matrix and obtains composograph；
The composograph of corresponding different time is fused into video；And
Display module, for showing synthesized video.
5. the device according to any one of claim 4, which is characterized in that in the determining collected video image of institute
In the corresponding image array of each video image before, the processing module is also used to:
Distortion correction is carried out to the collected video image of institute, curved images are transformed to flat image, wherein the determination
The corresponding image array of each video image in collected video image to determine institute based on the video image after correction
State image array.
6. device according to claim 4, which is characterized in that collected video image and/or synthesized view
Frequency is to be transmitted based on low delay transmission technology.
7. a kind of tower crane, which is characterized in that the tower crane includes device described in any one of claim 4-6.
8. a kind of machine readable storage medium, it is stored with instruction on the machine readable storage medium, which is used for so that machine
Perform claim requires method described in any one of 1-3.
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| CN108510445A (en) * | 2018-03-30 | 2018-09-07 | 长沙全度影像科技有限公司 | A kind of Panorama Mosaic method |
| CN108769578A (en) * | 2018-05-17 | 2018-11-06 | 南京理工大学 | A kind of real-time omnidirectional imaging system and method based on multi-path camera |
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